Designing Behaviors as Coupled Dynamical Systems

摘要

My research efforts aim at putting behavior-oriented robotics on a firm mathematical ground within dynamical Systems theory. I investigate prin-cipled methods for the analysis [3] and the design of robots. The present article is concerned with the latter. I propose a "compensation" technique for making behaviors, to some extent, immune against qualitative disruption due to coupling dynamics. The methods described enable the designer to construct behavior Subsystems as "modulated rnodules".